Pose Estimation of Spherical Camera Based on Color Information and 3D Distance Information

Continuous Pose Estimation by Updating Depth Map of Key Frames

Abstract

This study proposes a novel camera localization method using color information of spherical camera images and 3D distance information obtained from the 3D model of the environment. To achieve higher accuracy, instead of using particular features, all pixels in spherical camera images are used for the estimation. Continuous tracking of the camera pose is achieved by updating the 3D distance information using previous estimated camera pose. The effectiveness of this method is confirmed by experiments.